JP5516985B2 - Stacker crane - Google Patents

Description

  The present invention is directed to a traveling carriage that can travel along a traveling rail by a rotational operation of a traveling motor for traveling driving, and a lifting mast that is erected on the traveling carriage by a rotational operation of a lifting motor for lifting drive. The elevator can be moved up and down, and the transfer device can be moved by a traveling operation of the traveling carriage and a lifting operation of the lifting platform. A stacker crane provided with control means for carrying out conveyance control for controlling the rotation operation of the traveling motor and the rotation operation of the elevating motor in order to convey the article between the plurality of transfer target portions About.

  The stacker crane is a logistics device that is provided in an automatic warehouse facility or the like, and automatically stores and unloads articles with respect to an article storage shelf configured by arranging a plurality of storage units for storing articles vertically and horizontally. is there. By the traveling operation of the traveling carriage and the lifting / lowering operation of the lifting platform, the transfer device is moved with respect to each of the storage units arranged in the upper, lower, left, and right directions to transfer the article. Such warehousing and warehousing operations are repeated a very large number of times, and therefore the amount of power in each warehousing operation and warehousing operation greatly affects the power consumption of the equipment. For this reason, there has been conventionally proposed a power saving operation by operating the stacker crane at a low speed (for example, see Patent Document 1).

JP 2004-123350 A

  In the prior art disclosed in Patent Document 1, power saving is achieved by reducing the operation speed of the stacker crane uniformly (for example, 50% of normal time). However, since the travel operation of the traveling carriage and the lifting operation of the lifting platform in the stacker crane are different in the traveling operation condition and the lifting operation condition, such as the operation direction with respect to gravity is completely different, both the traveling operation and the lifting operation are performed. In the conventional power saving method that uniformly reduces the speed, the effect of power saving in traveling operation is different from the effect of power saving in lifting operation, and appropriate power saving effect is not obtained in each operation mode. There was room for improvement in terms of fear.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a stacker crane capable of achieving appropriate power saving in each of the traveling operation and the lifting operation.

In order to achieve this object, a first characteristic configuration of a stacker crane according to the present invention includes a traveling carriage that can travel along a traveling rail by a rotational operation of a traveling motor for traveling driving, and a lifting mechanism for lifting drive. A lifting platform provided with a transfer device that can move up and down along a lifting mast standing on the traveling cart by rotation of a motor and that can transfer articles between places to be transferred; and the traveling cart In order to move the transfer device by the traveling operation of the elevator and the raising / lowering operation of the lifting platform to convey the article between the plurality of transfer target locations, the rotational operation of the traveling motor and the rotational operation of the lifting motor In a stacker crane provided with a control means for executing conveyance control for controlling
The control means includes a rated operation mode in which the traveling control is performed so that the traveling carriage travels at a rated traveling speed and the lifting platform moves up and down at a rated lifting speed, and the traveling carriage is reduced with respect to traveling operation. Power saving operation that travels at a power saving driving speed suitable for electric power and performs the conveyance control so that the lifting platform is raised and lowered at a power saving driving lifting speed suitable for power saving with respect to the lifting operation. The point is that it can be switched between modes.

According to this characteristic configuration, when the control unit executes the conveyance control in the rated operation mode, the traveling carriage travels at the rated traveling speed, and the lifting platform moves up and down at the rated lifting speed. As a result, in the rated operation mode, it is possible to efficiently convey the articles by fully exhibiting the article conveying ability of the stacker crane. On the other hand, when the control means executes the conveyance control in the power saving operation mode, the traveling carriage operates at the traveling speed for power saving operation, and the lifting platform moves up and down at the lifting speed for power saving operation.
The power saving driving speed is a driving speed suitable for power saving with respect to the driving action, and the power saving driving lifting speed is a lifting speed suitable for power saving with respect to the lifting action. Unlike the method in which the operating speed is uniformly reduced, the traveling operation and the lifting operation are performed at a power-saving operating speed suitable for the operation mode. The operation speed suitable for power saving can be set for each according to the difference of the operation direction with respect to gravity.

  The tables of FIGS. 14 and 15 show the influence of the difference in operating speed on the power consumption for each of the traveling operation (FIG. 13) and the lifting operation (FIG. 14). The data in the table was obtained by an experiment conducted by the inventor using an actual stacker crane. As the data in the table, an average value of measurement data obtained by a plurality of experiments was adopted. As shown in FIG. 14, regarding the running operation, the power consumption is the smallest when αh = 0.05 [G], Vh_max = 80, βh = −0.05 [G] circled in the drawing. In other words, for the travel operation under the travel conditions in the table, the travel speed suitable for power saving is 50% with respect to the rating surrounded by the square in the figure for both forward and reverse, αh = 0.05 [G ], Vh_max = 120, βh = −0.05 [G]. As shown in FIG. 15, regarding the lifting operation, the power consumption is the smallest at the ratings (αv = 0.05 [G], Vv_max = 120, βv = −0.05 [G]) enclosed in the figure. . That is, for the lifting operation under the lifting conditions in the table, the lifting speed suitable for power saving is the same as the rated lifting speed for both rising and lowering.

  From such experimental results, in suppressing the power consumption of the stacker crane, the inventor is able to maintain a motion state that is easy to maintain the motion state by inertia force due to the difference in the operation direction with respect to gravity between the travel operation and the lifting operation. Paying attention to the point that the effect on power saving when changing from the operating speed for rated operation is different from the lifting operation that is difficult to maintain the movement state, as described above, different modes when performing power saving The operation speed for power-saving operation is set at.

  As described above, according to this configuration, it is possible to achieve appropriate power saving in each of the traveling operation and the lifting operation by separately setting the operation speed suitable for power saving in the traveling operation and the lifting operation. We came to get a stacker crane that can be used.

  In a second characteristic configuration of the stacker crane according to the present invention, the control means uses an intermediate traveling speed that is intermediate between the rated traveling speed and the stopped state of the traveling carriage for the power saving operation in the power saving operation mode. The conveyance control is performed in such a manner that the traveling speed is the same as the rated lifting speed of the lifting platform, and the lifting speed for power saving operation is used.

  According to this characteristic configuration, as shown in the experimental results of FIG. 13, focusing on the point that the power saving effect can be expected by reducing the traveling speed from the rating, the power saving operation mode By adopting an intermediate traveling speed that is an intermediate between the rated traveling speed and the stopped state as the traveling speed for power saving operation, an effect of power saving can be appropriately obtained with respect to traveling operation. Further, as shown in the experimental results of FIG. 14, with regard to the lifting operation, paying attention to the point that the power saving effect cannot be expected even if the lifting speed is reduced from the rating, By adopting the same elevating speed as the elevating speed as the rated elevating speed of the elevating platform, it is possible to appropriately obtain an effect of power saving with respect to the elevating operation. Thus, according to this characteristic configuration, a preferred embodiment of the present invention can be provided.

  A third characteristic configuration of the stacker crane according to the present invention is configured such that the control unit executes the transport control in a form in which a traveling operation of the traveling carriage and a lifting operation of the lifting platform are simultaneously started, and In the power saving operation mode, when the lifting operation period of the lifting platform is expected to be longer than the traveling operation period of the traveling carriage, the intermediate traveling speed is set as the traveling speed for the power saving operation, and the lifting platform is moved up and down When the operation period is expected to be equal to or less than the travel operation period of the traveling carriage, the conveyance control is performed in such a manner that the rated traveling speed of the traveling carriage is set as the traveling speed for power saving operation. It is in.

  According to this characteristic configuration, when the conveyance control is executed, the traveling operation of the traveling carriage and the raising / lowering operation of the lifting platform are simultaneously started. Therefore, if the lifting / lowering operation period of the lifting platform is expected to be longer than the traveling operation period of the traveling carriage, the traveling carriage is in a stopped state until the lifting / lowering movement of the lifting platform is completed after the traveling action of the traveling carriage is completed. Will wait. Thus, even if the travel carriage is operated at the rated travel speed, the transport operation of the stacker crane is not completed until the lift operation of the lift platform is completed. The significance of running is reduced. In addition, it has been found from experimental results that a power saving effect can be expected by reducing the traveling speed for the traveling operation.

  Thus, in the power saving operation mode, when the lifting operation period of the lifting platform is expected to be longer than the traveling operation period of the traveling carriage, the intermediate traveling speed is set as the traveling speed for power saving operation. By suppressing the traveling speed of the traveling carriage to the intermediate traveling speed, the traveling operation time may be extended and become longer than the lifting operation time. However, in the power saving operation mode, the conveyance capacity can be lowered to some extent. So there is no problem.

  As described above, according to this characteristic configuration, it is possible to prevent the traveling carriage from standing by in a stopped state until the lifting / lowering operation of the lifting / lowering base is completed, and to save power of the stacker crane.

A fourth characteristic configuration of the stacker crane according to the present invention is a load state determination unit that determines whether the conveyance work amount to be processed is a high load state that is equal to or greater than a set amount or a low load state that is less than the set amount. And when the control means determines that the high load state is present, the load state determination means switches to the rated operation mode, and the load state determination means determines that the load is low. And switching to the power saving operation mode.

According to this characteristic configuration, when the load state determination unit determines that the load is high, the control unit switches the operation mode to the rated operation mode, and the load state determination unit determines that the load is low. Since the control means switches the operation mode to the power saving operation mode, the operation state is automatically switched according to the load state. Therefore, there is no need for the operator to judge the load state and manually switch to the rated operation mode or the power saving operation mode.

  The fifth characteristic configuration of the stacker crane according to the present invention is such that each of the traveling motor and the elevating motor can be switched between a braking state in which the rotation operation is braked and a release state in which the rotation operation is released. And when the electric power is supplied, the braking means is configured in a negative type to switch to the release state and to switch to the braking state when the supply of electric power is stopped, and the control means includes the transport In the control, when the traveling motor is rotationally operated, the braking means for the traveling motor is maintained in a released state, the rotational operation of the traveling motor is servo-controlled, and the lifting motor is rotationally operated. Is configured to servo-control the rotational operation of the elevating motor while maintaining the braking means for the elevating motor in a released state. In the rated operation mode, after the rotational operation of the traveling motor is stopped by servo control, the rotational operation of the traveling motor is braked by a servo lock, and the rotational operation of the elevating motor is stopped by servo control. After that, the rotation operation of the lifting motor is braked by a servo lock, and in the power saving operation mode, after the rotation operation of the traveling motor is stopped by servo control, the traveling motor is After the servo control is stopped and the braking means for the traveling motor is switched to the braking state, and the rotation operation of the lifting motor is stopped by servo control, the servo control for the lifting motor is stopped. The braking means for the lifting motor is configured to switch to the braking state.

  According to this characteristic configuration, when the control means maintains the lifting motor and the traveling motor in the stopped state in the rated operation mode, the control means sets the braking means to the released state and rotates the electric motor by the servo lock by the drive control means. Brakes operation. As a result, in the rated operation mode, the lifting operation of the elevating motor or traveling motor stopped by servo control can be braked to the stopped state using the servo lock as it is by servo control. A state in which the rotation operation of the motor is stopped and stopped can be quickly displayed. In addition, when starting the rotating operation of a lifting motor or a traveling motor that is braked in a stopped state by a servo lock, it is possible to operate from a stopped state simply by changing the value of the drive command for the servomotor controlled electric motor. Since it can shift to a state, the rotation operation of the elevating motor and the traveling motor can be started quickly.

  Unlike the servo lock in which the position is held based on the drive command, the brake means operates the electromagnetic actuator or the like when switching from the brake state to the release state, and thus the release operation takes a relatively long time. Therefore, in the rated operation mode where it is considered that the transfer operation of the transfer device is started as quickly as possible, or the busy operation period in which the request to process each transfer operation as quickly as possible is high, the lifting motor When the traveling motor is maintained in the stopped state, the braking means is not used as much as possible, and the servo lock is used, so that the rotational operation of the lifting motor and the traveling motor can be started quickly.

  On the other hand, when the elevating motor and the traveling motor are maintained in the stopped state in the power saving operation mode, the servo control is interrupted and the braking means is switched to the braking state so that the elevating motor and the traveling motor are rotated. Braking. As a result, the power consumption for servo-controlling the lifting motor and the traveling motor can be reduced, and the braking means maintains the braking state without supplying power, so the rotation of the lifting motor and the traveling motor can be maintained. Electric power required to brake the operation can be reduced. Thus, by stopping the servo control and stopping the supply of electric power to the braking means, it is possible to reduce the electric power required to brake the elevating motor and the traveling motor in the stopped state.

  As described above, according to this feature configuration, in the rated operation mode, the servo lock is used, so that the rotation operation of the elevating motor and the traveling motor can be started quickly. On the other hand, in the power saving operation mode, it is possible to reduce the electric power for braking the elevating motor and the traveling motor in the stopped state.

  According to a sixth characteristic configuration of the stacker crane according to the present invention, there is provided a regenerative power recovery and supply means that recovers regenerative power generated in one of the elevating motor and the travel motor and can be supplied to the other. The means includes a lifting acceleration period in which the lifting platform moves up and down at a lifting acceleration from the start of lifting, a lifting constant speed period in which the lifting platform moves up and down at a lifting upper limit speed that follows the lifting acceleration period, and a lifting that continues after the lifting constant speed period. A traveling acceleration period during which the traveling carriage travels at the traveling acceleration from the start of traveling while generating an ascending / descending speed pattern that defines an ascending / descending deceleration period that elevates and lowers at a vehicle deceleration based on the ascending / descending distance from the ascending / descending start position to the target ascending / descending position. A traveling constant speed period that travels at the traveling upper limit speed that follows the traveling acceleration period, and a traveling deceleration period that travels at the traveling deceleration that follows the traveling constant speed period. A travel speed pattern to be generated is generated based on a travel distance from a travel start position to a target travel position, and after the lift operation of the lift base is started, the lift base is lifted and lowered at a lift speed given by the lift speed pattern. The transport control is configured to execute the transport cart in a mode in which the travel cart is operated to travel at a travel speed given by the travel speed pattern after being activated and starting the travel operation of the travel cart, and the control In the rated operation mode, when the means moves the transfer device from the transfer target location of the movement source to a transfer target location that is higher than the transfer target location, The travel operation is started to start the movement of the transfer device, and the travel carriage is moved according to the speed change given by the travel deceleration period of the travel speed pattern. The elevating speed pattern is determined and the movement of the transfer device is started so that a period during which the row speed is decelerated overlaps with a period during which the elevating platform is raised according to the speed change given by the elevating speed pattern. The conveyance control is executed in such a manner that the lifting operation of the lifting platform is started at a rising start timing later than the movement start timing by a delay time.

  The traveling speed of the traveling carriage is controlled so as to operate at a traveling speed given by the traveling speed pattern, and the traveling speed of the elevator base is controlled so as to move up and down at the lifting speed given by the lifting speed pattern. Is done. Since the traveling speed of the traveling carriage is reduced during the traveling deceleration period in the traveling speed pattern, regenerative electric power is generated by the regenerative operation of the traveling motor during this period.

  By starting the ascending / descending stage ascending at a rising start timing that is later than the movement start timing at which the movement of the transfer device is started, the traveling speed of the traveling carriage is changed according to the speed change given by the traveling deceleration period of the traveling speed pattern. The period for decelerating can overlap the period for raising the elevator platform according to the speed change given by the elevation speed pattern. Thereby, the rotation operation of the elevating motor is controlled so that the elevating platform rises during the period when the traveling motor is performing the regenerative operation. When raising the lifting platform, the lifting motor is in a state of consuming electric power because it is powered.

  Therefore, the regenerative electric power generated by the traveling motor is recovered by the regenerative power recovery and supply means and supplied to the elevating drive control means, so that it can be consumed by the rotation operation of the elevating motor that performs the power running operation.

  As described above, the regenerative power of the traveling motor generated during the period during which the traveling speed of the traveling carriage is decelerated is increased from the traveling drive control means by raising the lifting platform during the period in which the traveling speed of the traveling carriage is decelerated. The collection and supply means can collect and supply to the elevating drive control means for performing the power running operation of the elevating motor. Therefore, the lifting platform can be raised using the regenerative power generated during the deceleration period of the traveling operation of the traveling cart, and the power consumption of the stacker crane can be reduced.

Overall perspective view of automatic warehouse equipment Overall side view of stacker crane Control block diagram Diagram explaining travel speed pattern Diagram explaining the lifting speed pattern Speed pattern and brake timing chart in power saving operation mode Speed pattern and brake timing chart in rated operation mode Flow chart of transport control # 1 Flow chart of transport control 2 Flow chart of transport control # 3 Flow chart of power saving operation mode determination processing Ugly processing flowchart Experimental data showing the power consumption of driving operation when driving conditions are changed Experimental data showing the power consumption of the running operation when the lifting condition is changed The figure which shows the timing of (a) driving | running | working operation | movement and (b) raising / lowering operation | movement, and (c) movement form of a transfer apparatus when a raising / lowering stand raises in 2nd Embodiment. The figure which shows the timing of (a) driving | running | working operation | movement and (b) raising / lowering operation | movement in the 2nd Embodiment, and (c) moving form of a transfer apparatus in case a raising / lowering stand descend | falls. Part of a flowchart of transport control in the second embodiment

  Hereinafter, embodiments of a stacker crane of the present invention will be described with reference to the drawings. As shown in FIG. 1, a stacker crane 3 is installed in an automatic warehouse facility SU for carrying in and out goods Q into and out from the goods storage shelf 1 as transport work.

  A pair of the article storage shelves 1 are installed at an interval so that the article loading / unloading directions face each other. Each article storage shelf 1 has a pair of front and rear support columns 1a standing on the floor with a space in the left-right direction, and each of the pair of front and rear support columns 1a has a mounting support portion 1b extending in the left-right direction in the vertical direction. A plurality are arranged at intervals. A pair of front and rear support columns 1a and a pair of left and right mounting support portions 1b form a single storage portion 4, and a plurality of the storage portions 4 are arranged side by side.

  The position of the plurality of storage units 4 in the pair of article storage shelves 1 is a bank value that indicates which one of the article storage shelves 1, a bay value that indicates a position in the lateral width direction (left-right direction) in the article storage shelf 1, and an article It is specified by the storage unit position information that combines the level values indicating the vertical position in the storage shelf 1.

  A linear traveling path 2 of the stacker crane 3 is formed between the article storage shelves 1. A travel rail 5 is installed on the floor side of the travel path 2, and a guide rail 6 is installed on the ceiling side along the longitudinal direction of the article storage shelf 1. On one end side of the traveling rail 5, a ground-side controller 7 that manages the operation of the stacker crane 3 and a pair of loading platforms 8 with the traveling rail 5 interposed therebetween are provided. The height of the loading table 8 is adjusted to the level of the storage unit 4 located at the lowest level in the article storage shelf 1 (see FIGS. 15C and 16C).

  The stacker crane 3 includes a traveling cart 10 that can travel on the traveling rail 5 along the traveling path 2, and a pair of front and rear quadrangular column-shaped lifting masts 11 a in the traveling direction of the traveling cart 10 erected on the traveling cart 10. 11b and a lifting platform 12 capable of moving up and down the lifting path formed along these lifting masts 11a and 11b.

  The traveling carriage 10 is guided to travel on the ground-side travel rail 5 of the travel path 2, and the upper frame 15 connecting the upper ends of the lifting masts 11 a and 11 b is guided to the guide rail 6 on the ceiling of the travel path 2. In this state, the traveling carriage 10 self-propels so that it can travel along the width direction of the article storage shelf 1.

  As shown in FIG. 2, the traveling carriage 10 is provided with a pair of front and rear traveling wheels 23 that can travel on the traveling rail 5, and one of the pair of traveling wheels 23 on one end side in the longitudinal direction of the vehicle body travels. The driving wheel 23a for propulsion driven by the motor M1 is configured, and the wheel on the other end side in the longitudinal direction of the vehicle body is configured as a freely driven driven wheel 23b.

  The traveling carriage 10 is provided with a traveling laser distance meter 25 for detecting the traveling position of the stacker crane 3 in the traveling route 2. The travel laser distance meter 25 projects distance measuring laser light onto a reflector 26 provided near the end of the travel path 2 on the ground-side controller 7 side as a reference position in the travel path and reflects the reflected light. , The distance to the reflector 26, that is, the distance to the ground-side reference position is measured.

  Further, the traveling carriage 10 is provided with an elevation laser distance meter 20 for detecting the elevation position of the elevation platform 12. The elevating laser rangefinder 20 is installed on the lower surface of the elevating platform 12 with a laser beam for ranging through a mirror 22 provided in the traveling carriage 10 in order to bend the optical path of the laser beam vertically upward from the horizontal direction. The reflection plate 21 is irradiated to measure the distance to the reflection plate 21 along the bent optical path of the laser beam.

  The lifting platform 12 is provided in a state of being supported suspended by a pair of lifting wires 14 wound around a winding drum 18. The pair of elevating wires 14 are forward in an advancing direction (hereinafter referred to as an advancing direction) when the upper sheave 16 provided on the upper frame 15 and the front mast 11a (the stacker crane 3 travels away from the ground controller 7). Is guided by an intermediate sheave 17 provided at the bottom of the mast. The lift motor M2 rotationally drives the take-up drum 18, so that the lift 12 can be raised and lowered by feeding and winding the pair of lift wires 14.

  Although not shown, the lifting / lowering base 12 has a counterweight that is movable up and down along the front mast 11a and has a weight that is substantially the same as that of the lifting / lowering stage 12 that is in an unloaded state. Connected by. Thereby, the power saving by the reduction of the operation force when raising the raising / lowering stand 12 is aimed at.

  An article Q (specifically, the pallet P and the pallet P is placed between the storage fork 4 and the loading platform 8 as a transfer target location by moving the slide fork 9 in and out of the lifting platform 12. A transfer device 13 is provided which can transfer the load W). In addition to the transfer device 13, the lifting platform 12 is provided with an exit / retreat motor M <b> 3 that drives the slide fork 9 to exit and retract. The electric power for driving the exit / retreat motor M3 is supplied from the lower side of the front mast 11a through a power cable (not shown).

  A control panel 24 is installed at the lower part of the front mast 11a. The control panel 24 has a traveling inverter INV1 as a traveling drive control means for controlling the rotational operation of the traveling motor M1 and an ascending / descending drive means as a lifting drive control means for controlling the rotational operation of the lifting motor M2 shown in FIG. Inverter INV2, exit / inverter inverter INV3 as exit / exit drive control means for controlling the rotation operation of exit / exit motor M3, power regeneration common converter CNV for supplying motor drive power to these inverters, and microcomputer A crane controller 27 and the like configured by using it are accommodated.

  As shown in FIG. 3, the crane controller 27 is provided so that various control information can be communicated with the ground-side controller 7 by the infrared communication device 28. By executing a conveyance control program based on the conveyance command, a drive command is issued to the traveling inverter INV1 as the traveling drive control means and the elevation inverter INV2 as the elevation drive control means to operate the stacker crane 3 for conveyance. Then, the rotation operation of the traveling motor M1 and the lifting motor M2 is controlled. That is, the crane controller 27 functions as the control means of the present invention.

  A traveling laser distance meter 25 and a lifting laser distance meter 20 are connected to the crane controller 27. In addition, a traveling motor M1 is connected via the traveling inverter INV1, a lifting motor M2 is connected via the lifting inverter INV2, and a retracting motor M3 is connected via the retracting inverter INV3. . The traveling motor M1, the elevating motor M2, and the exit / retreat motor M3 are all cage-type induction AC motors, and are each provided with incremental rotary encoders RE1 to RE3 for detecting the rotational operation amount of the rotating shaft. Yes.

  Switchable between a braking state in which the rotational operation of the traveling motor M1 is braked and a released state in which the braking of the rotational operation of the traveling motor M1 is released, and electric power is supplied from a brake releasing power source (not shown). A traveling mechanical brake B1 (hereinafter referred to as a traveling brake B1), which is configured as a negative braking means that is sometimes switched to a released state and switched to a braking state as the power supply is stopped, is traveled. The motor M1 is provided.

  Switching means (not shown) configured by a relay or the like that can be switched between a supply state for supplying brake opening power to the traveling brake B1 and a supply cutoff state is provided, and the traveling control unit 27H. While the brake release signal is being output to the switching means, the brake release power is supplied to the travel brake B1, the travel brake B1 is maintained in the release state, and the travel control unit 27H outputs the brake release signal. While the power is not output to the switching means, the brake release power is not supplied to the travel brake B1, and the travel brake B1 is maintained in the braking state. Thus, the traveling control unit 27H is configured to be able to control the on / off of the traveling brake B1.

  Similarly, the lifting motor M2 is provided with a lifting mechanical brake B2 (hereinafter referred to as lifting brake B2), and the lifting control unit 27V is configured to be able to control on / off of the lifting brake B2. . Further, the exit / retreat motor M3 is provided with a mechanical brake B3 for exit / exit (hereinafter referred to as an exit / retreat brake B3), and the exit / exit control unit 27F is configured to be able to control on / off of the exit / exit brake B3. ing.

  The traveling inverter INV1 servo-controls the rotational operation speed of the traveling motor M1 in the speed control mode using the rotation amount information of the traveling motor M1 detected by the traveling rotary encoder RE1 as feedback information.

  Specifically, the traveling inverter INV1 operating in the speed control mode is configured so that the traveling motor M1 rotates at the rotational operation speed given by the traveling drive command output from the traveling control unit 27H of the crane controller 27. Based on the rotation amount information detected by the travel rotary encoder RE1, the rotational operation of the travel motor M1 is feedback-controlled. That is, the traveling inverter INV1 rotates the traveling motor M1 detected by the traveling rotary encoder RE1 when a traveling drive command based on the rotational operation speed of the traveling motor M1 is commanded from the traveling control unit 27H of the crane controller 27. From the deviation between the current rotational operation speed calculated from the quantity information and the rotational operation speed commanded by the travel drive command, the rotational operation speed of the travel motor M1 is commanded by the travel drive command. The output voltage and the output frequency are controlled so as to achieve speed.

  Similarly, the lift inverter INV2 servo-controls the rotational operation speed of the lift motor M2 in the speed control mode, using the rotation amount information of the lift motor M2 detected by the lift rotary encoder RE2 as feedback information.

  Specifically, the lift inverter INV2 that operates in the speed control mode is configured so that the lift motor M2 rotates at the rotational operation speed given by the lift drive command output by the lift control unit 27V of the crane controller 27. Based on the rotation amount information detected by the lifting rotary encoder RE2, the rotational operation of the lifting motor M2 is feedback-controlled. That is, the lift inverter INV2 rotates the lift motor M2 detected by the lift rotary encoder RE2 when a lift drive command based on the rotation speed of the lift motor M2 is commanded from the lift controller 27V of the crane controller 27. From the deviation between the current rotational operation speed calculated from the quantity information and the target rotational operation speed commanded by the lift drive command, the rotational drive speed of the lift motor M2 is commanded by the lift drive command. The output voltage and the output frequency are controlled so that the rotational operation speed becomes the same.

  The exit / exit inverter INV3 servo-controls the rotational operation speed of the exit / exit motor M3 in the position control mode using the rotation amount information of the exit / exit motor M3 detected by the exit / exit rotary encoder RE3 as feedback information.

  Specifically, the exit / retreat inverter INV3 that operates in the position control mode is operated by the exit / retreat motor M3 that rotates by the amount of rotation operation given by the exit / retreat drive command output by the exit / retreat control unit 27F of the crane controller 27. As described above, the rotational operation of the exit / exit motor M3 is feedback-controlled based on the rotation amount information detected by the exit / exit rotary encoder RE3. That is, the exit / retreat inverter INV3 receives the output / retreat drive command based on the rotational operation amount of the exit / retreat motor M3 from the exit / retreat control unit 27F of the crane controller 27, and detects the output / retreat rotary encoder RE3 detects. From the deviation between the cumulative rotational operation amount calculated from the rotational amount information of the withdrawal motor M3 and the target rotational operation amount commanded by the exit / retreat drive command, the cumulative rotational operation of the withdrawal motor M3. The output voltage and the output frequency are controlled so that the amount becomes the rotational operation amount commanded by the exit / retreat drive command.

  The crane controller 27 includes a pattern generation unit 27P, a travel position determination unit 27DH, and a lift position determination unit 27DV in addition to the travel control unit 27H, the lift control unit 27V, and the exit control unit 27F. Each of these units mainly implements software executed by the microcomputer, and realizes respective functions in cooperation with hardware such as peripheral input / output circuits.

  The travel position determination unit 27DH is based on the distance information detected by the travel laser distance meter 25, and the distance from the travel origin position set near the end on the ground side controller 7 side of the travel route 2 to the travel cart 10 And the traveling position of the traveling carriage 10 on the traveling route 2 is determined. Similarly, the lift position determination unit 27DV obtains the distance from the lift origin position set near the lower end of the lift path to the lift platform 12 based on the distance information detected by the lift laser distance meter 20, The lifting position of the lifting platform 12 in the lifting path is determined.

  For each of the traveling direction and the ascending / descending direction, the pattern generation unit 27P includes a movement distance from the movement source to the movement destination, a preset acceleration α, an upper limit velocity V_max, a deceleration β, and a fine velocity V_min. An acceleration period P1 that moves at an acceleration α from the start of movement, a constant speed period P2 that moves at an upper limit speed V_max that follows the acceleration period P1, a deceleration period P3 that moves at a deceleration β that follows the constant speed period P2, and a deceleration period A so-called trapezoidal speed pattern that defines a slow speed period P4 that moves at a slow speed V_min following P3 is generated. The time integral value of this trapezoidal speed pattern is the movement distance from the movement source to the movement destination. That is, a speed pattern that can be moved by the distance between the movement source and the movement destination is generated by adjusting the constant speed period P2 to be longer or shorter according to the movement distance. When the moving distance is extremely short, the constant speed period P2 may not be defined. In such a case, since the acceleration α is finished before reaching the upper limit speed V_max, the acceleration period P1 is shortened, and thus the deceleration period P3 is also shortened.

  FIG. 4 shows an example of a traveling speed pattern for moving the traveling carriage 10 forward by a solid line and an example of a traveling speed pattern for moving the traveling carriage 10 backward by a dotted line. In the example of FIG. 4, the same traveling distance is illustrated for forward movement and backward movement. As shown in FIG. 4, in the traveling speed pattern, the forward speed is given as a positive value and the backward speed is given as a negative value. The travel acceleration αh, the travel upper limit speed Vh_max, the travel deceleration βh, and the travel slow speed Vh_min are set in advance, and the pattern generation unit 27P moves the travel source (travel start position) and the travel destination (target travel). The travel acceleration period Ph1 that travels from the start of travel at the travel acceleration αh, the travel constant speed period Ph2 that travels at the travel upper limit speed Vh_max that follows the travel acceleration period Ph1, and the travel constant speed period. A travel speed pattern that defines a travel deceleration period Ph3 that travels at a travel deceleration βh that follows Ph2 and a travel slow speed period Ph4 that travels at a travel slow speed Vh_min that follows the travel deceleration period Ph3 is generated.

  For example, when the traveling carriage 10 moves forward, for example, when the article Q to be stored in the loading table 8 is moved to the storage section 4 in order to store the article Q to be stored in any of the storage sections 4, When moving from the transfer target transfer destination location to the transfer destination transfer destination location in the transfer operation for warehousing, or waiting for a transfer command for the next transfer operation to occur at the position where the warehousing operation is completed. In order to pick up the goods Q to be delivered from the storage unit 4 on the forward side with respect to the position of the transfer device 13 in the transported state, transport for unloading is performed to move to the storage unit 4 in an unloaded state. This is a time when the transfer is performed from the transfer device 13 in the standby state to a transfer target location on the forward side.

  In addition, when the traveling carriage 10 moves backward, for example, from the position of the transfer device 13 in a state of waiting for a conveyance command for the next conveyance work to be generated at the position where the warehousing work is completed, Move to the loading table 8 from the position of the transfer device 13 in the standby state in the transfer operation for warehousing, as when moving to the loading table 8 in order to pick up the goods Q Or when moving from the transfer target location of the transfer source in the transfer operation for unloading, such as when moving to the loading table 8 in order to unload the item Q to be unloaded from the storage unit 4 It is time to move to the transfer target location.

  In FIG. 5, an example of the raising / lowering speed pattern for raising the raising / lowering stand 12 is shown as a continuous line, and an example of the raising / lowering speed pattern for lowering the raising / lowering stand 12 is shown by the dotted line. In the example of FIG. 5, the thing with the same raising / lowering distance is illustrated by raising and lowering. As shown in FIG. 4, in the ascending / descending speed pattern, the ascending speed is given as a positive value and the descending speed is given as a negative value. The lifting acceleration αv, the lifting upper limit speed Vv_max, the lifting deceleration βv, and the lifting fine speed Vv_min are set in advance, and the pattern generation unit 27P moves the moving source (lifting start position) and the moving destination (target lifting) Position), a vertical acceleration period Pv1 that moves up and down at the acceleration αv from the start of the vertical movement, a constant vertical speed period Pv2 that goes up and down at the upper and lower maximum speed Vv_max that follows the vertical acceleration period Pv1, and a constant constant speed period An ascending / descending speed period Pv3 that moves up and down at an ascending / descending deceleration βv subsequent to Pv2 and an ascending / descending speed period Pv4 that moves up and down at an ascending / descending speed Vv_min following the ascending / descending deceleration period Pv3 are generated.

  For example, when the lifting platform 12 moves up, for example, when the article Q to be stored in the loading table 8 is moved to the storage unit 4 in a loaded state so as to be stored in any of the storage units 4. When moving from the transfer target transfer destination location to the transfer destination transfer destination location in the transfer operation for warehousing, or waiting for a transfer command for the next transfer operation to occur at the position where the warehousing operation is completed. In order to pick up the goods Q to be delivered from the storage unit 4 that is on the higher side than the position of the transfer device 13 in the state of being transferred, it is transported for delivery as when moving to the storage unit 4 in an empty state. This is the time when the transfer is performed from the transfer device 13 in the standby state to the transfer target location located on the ascending side.

  In addition, when the lifting platform 12 is lowered, for example, from the position of the transfer device 13 in a state of waiting for a transfer command for the next transfer operation to be generated at the position where the warehousing operation is completed, Move to the loading table 8 from the position of the transfer device 13 in the standby state in the transfer operation for warehousing, as when moving to the loading table 8 in order to pick up the goods Q Or when moving from the transfer target location of the transfer source in the transfer operation for unloading, such as when moving to the loading table 8 in order to unload the item Q to be unloaded from the storage unit 4 It is time to move to the transfer target location.

  The power regeneration common converter CNV functions as power supply means for converting the three-phase AC power received from the power supply line 29 into DC power and supplying DC power to each inverter, as well as a traveling motor M1, a lifting motor M2, When at least one of the retreat motors M3 is regeneratively operated and regenerative power is generated, the regenerative power returned to the inverter for the regeneratively operated motor is recovered with DC power, and the DC power is recovered to other It functions as regenerative power recovery and supply means for supplying power to the inverter that is operating the motor. In addition, when the regenerative power is smaller than the power required for the inverter that drives the motor, and the power required for the power running of the motor is insufficient, the power of the power received from the power supply line 29 is supplemented. By providing the power regeneration common converter CNV, the power received from the power source is kept as low as possible, and the running cost of the stacker crane 3 is reduced as much as possible.

  Although not shown, the power regeneration common converter CNV includes an electric double layer capacitor as a power storage unit that stores surplus power that is not consumed by the traveling motor M1 or the lifting motor M2 in the regenerative power. The power storage means may be a capacitor other than an electric double layer capacitor or a rechargeable secondary battery. Even if regenerative power is generated by a regenerative motor, if there is no inverter that is driving the motor, or if the power consumed by the inverter at the supply destination is less than the regenerative power, the electrical energy from the excess regenerative power Is stored in the electric double layer capacitor. The electric energy stored in the electric double layer capacitor is consumed by the subsequent power running operation of the motor. In this way, by providing the power storage means in the power regeneration common converter CNV, the regenerative power output from the regenerative operation motor can be effectively utilized as much as possible without waste.

  Next, the control operation of the crane controller 27 will be described. The crane controller 27 executes a transfer control program when receiving the transfer command of the warehousing command or the output command issued by the ground-side controller 7 via the infrared communication device 28, and executes the transfer control program specified by the transfer command. From the transfer target location (the loading table 8 if it is a warehousing command, and from the storage unit 4 that is the warehousing source if it is a warehousing command), the transfer target location (the storage portion that is the warehousing destination if it is a warehousing command) 4 is a loading table 8 if it is a delivery command.) In order to move the transfer device 13 by the traveling operation of the traveling carriage 10 and the raising / lowering operation of the lifting platform 12 to transport the article Q to the vehicle) The rotational operation of the motor M1 and the lifting motor M2 is controlled. Hereinafter, the conveyance control which the crane controller 27 performs based on a conveyance command is demonstrated.

  First, the conveyance command which the ground side controller 7 commands will be described. When there is a storage request for the article Q from the host computer 30, the ground-side controller 7 selects the empty storage unit 4 that stores the article Q to be stored. Based on the bank value, bay value, and level value of the selected storage unit 4, the position of the storage unit 4 is acquired from a storage unit position information database stored in advance in a storage unit (not shown), and the warehousing operation Set as the target stop position of the transport destination. Further, the position information of the loading table 8 stored in the storage unit in advance is acquired and set as the target stop position of the transfer source of the warehousing operation. In this way, a conveyance command (warehousing command) is generated with the loading table 8 as the conveyance source and the selected storage unit 4 as the conveyance destination, and is commanded to the crane controller 27.

  In addition, when there is a request for the delivery of the article Q from the host computer 30, the ground side controller 7 searches the storage unit 4 in which the article Q to be delivered is stored from the inventory database, and stores the bank value and bay of the storage unit 4. Based on the value and the level value, the position of the storage unit 4 is acquired from a storage unit position information database stored in advance in a storage unit (not shown), and is set as a target stop position of the delivery source of the unloading operation. . Moreover, the ground side controller 7 acquires the positional information on the loading platform 8 stored in the storage unit in advance, and sets it as the target stop position of the delivery destination of the unloading operation. In this way, a transport command (shipping command) is generated with the selected storage unit 4 as the transport source and the loading table 8 as the transport destination, and the crane controller 27 is commanded. The inventory database is updated every time a completion report is received from the crane controller 27 indicating that the conveyance work based on the warehousing command and the warehousing command has been completed.

  When the crane controller 27 executes the conveyance control based on the conveyance command, first, the pattern generation unit 27P is necessary for the traveling operation and the lifting operation for moving the transfer device 13 to the transfer target location of the transfer source. A traveling speed pattern and an ascending / descending speed pattern are generated.

  Then, after the traveling control unit 27H starts the traveling operation of the traveling carriage 10, the traveling speed information of the traveling carriage 10 is feedback-controlled using the traveling position information of the traveling carriage 10 determined by the traveling position determination unit 27DH as feedback information. .

  Specifically, after the traveling operation of the traveling vehicle 10 is started, the traveling position determination unit 27DH determines that the traveling vehicle 10 operates to travel at the traveling speed Vh given by the traveling speed pattern. Based on the traveling position information, the traveling speed of the traveling carriage 10 is PID-controlled. That is, the traveling control unit 27H uses a traveling speed pattern based on the current traveling speed calculated from the time change rate of the traveling position information of the traveling carriage 10 by the traveling position determination unit 27DH and the elapsed time from the start of traveling to the present. Based on the given deviation from the current target travel speed, a target rotational operation speed for the travel motor M1 is calculated by the PID control method, and the target rotational operation speed information is output as a travel drive command to the travel inverter INV1. .

  In addition, after the lifting control unit 27V starts the lifting operation of the lifting platform 12, the lifting speed of the lifting platform 12 is feedback controlled using the lifting position information of the lifting platform 12 determined by the lifting position determination unit 27DV as feedback information. .

  Specifically, after the lifting / lowering operation of the lifting / lowering table 12 is started, the lifting / lowering position determination unit 27DV determines that the lifting / lowering table 12 is lifted / lowered at the lifting / lowering speed Vv given by the lifting / lowering speed pattern. Based on the lifting position information, the lifting speed of the lifting platform 12 is PID controlled. That is, the lifting control unit 27V uses a lifting speed pattern based on the current lifting speed calculated from the time change rate of the lifting position information of the lifting platform 12 by the lifting position determination unit 27DV and the elapsed time from the lifting start to the present. A target rotation operating speed for the lifting motor M2 is calculated from the deviation from the present target lifting speed by a PID control method, and the target rotation operating speed information is output as a lifting drive command to the lifting inverter INV2. .

  In this way, the traveling control unit 27H feedback-controls the current traveling speed as feedback information so that the traveling speed of the traveling carriage 10 changes according to the traveling speed pattern generated by the pattern generating unit 27P. In addition, the elevating control unit 27V feedback-controls the current elevating speed as feedback information so that the elevating speed of the elevating platform 12 changes in speed given by the elevating speed pattern generated by the pattern generating unit 27P. Then, the transfer device 13 is positioned at the transfer target location of the transport source.

  Then, the crane controller 27 performs a scooping process, picks up the article Q to be transported from the transfer target part of the transport source, and then moves to the transfer target part of the transport destination generated by the pattern generation unit 27P. The traveling control unit 27H and the lifting control unit 27V control the traveling speed of the traveling carriage 10 and the raising / lowering speed of the lifting platform 12 based on the traveling speed pattern and the lifting / lowering speed pattern. Position it at the location to be transferred. Then, the crane controller 27 executes a wholesale process, wholesales the article Q to be transferred to the transfer target location at the transfer destination, and ends the transfer control for the transfer instruction (a warehousing instruction or a leaving instruction). In this way, when the conveyance control is executed once, one conveyance work (a warehousing work or a warehousing work) is completed.

  The crane controller 27 includes a rated operation mode in which the traveling carriage 10 travels at the rated traveling speed and the transport control is performed so that the lifting platform 12 moves up and down at the rated lifting speed. A power saving operation mode in which the conveyance control is executed so that the elevator 12 moves up and down at a power saving operation lifting speed suitable for power saving with respect to the lifting operation. It is configured to be freely switchable.

The crane controller 27 executes the power saving mode determination process shown in FIG. 11 every time the conveyance control is executed, and is set to determine whether the conveyance work amount to be processed by the stacker crane 3 is a high load state that is equal to or larger than the set amount. It is determined whether it is a low load state that is less than the amount. That is, the crane controller 27 executes the power saving mode determination process, thereby realizing the function of the load state determination means of the present invention. As shown in the flowchart of FIG. 11, the crane controller 27 checks the presence / absence of an unprocessed conveyance command in the power saving mode determination process, and determines that there is a high load state if there is a conveyance command waiting for processing. Switch to the rated operation mode by resetting the power saving mode flag, and if there is no transfer command waiting for processing, it is determined that the load is low and the power saving mode flag is set to switch to the power saving operation mode. It is configured.

  In the power saving operation mode, the crane controller 27 is an intermediate travel between the rated travel speed of the traveling carriage 10 (in this embodiment, for example, 160 [m / min] for both forward and backward travel) and the stop state. The speed (in this embodiment, for example, 80 [m / min], which is 50% of the rating for both forward and backward movements) is the traveling speed for power saving operation, and the rated lifting speed of the elevator 12 (in this embodiment) For example, both the ascending and descending are set to 100 [m / min].) The conveyance control is executed in the form in which the same ascending / descending speed is set to the ascending / descending speed for power saving operation.

  Specifically, as shown in FIGS. 6 and 7, the crane controller 27 is configured to execute the conveyance control in a form in which the traveling operation of the traveling carriage 10 and the raising / lowering action of the 12 lifting platforms are started simultaneously, In addition, when the transfer device 13 is moved from the movement source to the movement destination in the power saving operation mode, the lifting operation period Tv of the lifting platform 12 is equal to the traveling operation period of the traveling carriage 10 as shown in FIG. If it is expected to be longer than Th, the intermediate traveling speed is set as the traveling speed for power saving operation as shown by the solid line in FIG. 6B, and as shown in FIG. When the operation period Tv is expected to be equal to or less than the travel operation period Th of the traveling carriage 10, the rated traveling speed of the traveling carriage 10 is set as the traveling speed for power saving operation.

  As described above, when there is no transfer command for instructing the next transfer work at the time when the transfer process is executed and the transfer work is started, the transfer control is executed in the power saving mode because the rated transfer processing capacity is not necessarily required. By doing so, the power consumption of the stacker crane 3 is suppressed. In suppressing the power consumption of the stacker crane 3, the inventor is difficult to maintain the traveling operation and the motion state that can easily maintain the motion state by inertia force due to the difference in the operation direction with respect to gravity between the traveling operation and the lifting operation. Focusing on the point that the effect on power saving is different when the operating speed is changed from the rated value in the lifting operation, as described above, the operating speed for power saving operation in a different manner when performing power saving as described above It was made to stipulate.

  The tables in FIG. 13 and FIG. 14 show the influence of the difference in operating speed on the power consumption for each of the traveling operation (FIG. 13) and the lifting operation (FIG. 14). The data in the table is obtained by an experiment conducted by the inventor using the actual machine of the stacker crane 3. Regarding the power consumption data of the travel operation shown in FIG. 13, the travel acceleration pattern αh, travel deceleration βh, and travel upper limit speed Vh_max in the travel speed pattern (see FIG. 4) are changed to various values, and the stacker crane 3 The power consumption was measured by moving forward (a) and backward (b). Regarding the power consumption data of the lifting operation shown in FIG. 14, the stacking crane 3 is changed by changing the lifting acceleration αv, the lifting deceleration βv and the lifting upper limit velocity Vv_max to various values in the lifting speed pattern (see FIG. 5). The power consumption was measured by moving forward (a) and backward (b). For the data in the table, an average value of measurement data obtained by a plurality of experiments was adopted.

  As shown in FIG. 14, regarding the running operation, the power consumption is the smallest when αh = 0.05 [G], Vh_max = 80, βh = −0.05 [G] circled in the drawing. In other words, the traveling speed suitable for power saving is 50% of the rating enclosed by the square in the figure for both forward and backward movements, αh = 0.05 [G], Vh_max = 120, βh = −0.05 [G ].

  As shown in FIG. 15, regarding the lifting operation, the power consumption is the smallest at the ratings (αv = 0.05 [G], Vv_max = 120, βv = −0.05 [G]) enclosed in the figure. . In other words, the lifting speed suitable for power saving is the same lifting speed as rated for both rising and falling.

  The pattern generation unit 27P of the crane controller 12 determines the power saving traveling speed pattern and the power saving lifting speed pattern as follows in the conveyance control. First, a rated up / down speed pattern having a rated up / down speed as the up / down upper limit speed Vv_max is generated as an up / down speed pattern, and a rated running speed pattern (in FIG. ) And the travel speed pattern shown in FIG. 7 and the travel speed pattern shown by the phantom line in FIG. 6B). And while raising / lowering operation time Tv required in order to raise / lower the raising / lowering stand 12 from a raising / lowering start position to a target raising / lowering position is calculated based on a rated raising / lowering speed pattern, the traveling carriage 10 is made to drive | work from a traveling start position to a target traveling position. 6 is calculated based on the rated travel speed pattern, and when the travel operation time Th is less than the lift operation time Tv as shown in FIG. In the embodiment, it is determined by changing from the rated traveling speed pattern to a power saving traveling speed pattern (speed pattern indicated by a solid line in FIG. 6B) with the traveling upper limit speed Vh_max as 50% of the rated traveling speed. The rated lifting speed pattern is determined as the power saving lifting speed pattern as it is.

  When the power saving traveling speed pattern is determined in this way, the crane controller 27 starts the lifting operation of the lifting platform 12 and the traveling operation of the traveling carriage 10 at the same time, and thereafter, the traveling speed Vh given by the power saving traveling speed pattern is set. Then, the traveling cart 10 is caused to travel.

  In the conveyance control, the crane controller 27 maintains the traveling brake B1 of the traveling motor M1 and the lifting brake B2 of the lifting motor M2 in the released state when the traveling motor M1 and the lifting motor M2 are rotationally operated. Then, the servo motor controls the rotational operation of the traveling motor M1 and the lifting motor M2. In the high load state, by executing the conveyance control in the rated operation mode, when maintaining the traveling electric motor M1 and the lifting electric motor M2 in the stopped state, the corresponding mechanical brake is released and the corresponding inverter The rotational operation of the electric motor is braked by the servo lock. On the other hand, in the low load state, by executing the conveyance control in the power saving operation mode, the servo control of the electric motor by the inverter is interrupted when the traveling electric motor M1 and the lifting electric motor M2 are maintained in the stopped state. In addition, the rotational operation of the electric motor is braked by switching the corresponding mechanical brake to the braking state.

  In addition, when the crane controller 27 keeps one of the traveling motor M1 and the lifting motor M2 in the stopped state and rotates the other to move the stacker crane 3 in the high load state, the traveling inverter INV1 is used. In addition, a servo lock by a servo lock corresponding to the motor to be maintained in the stopped state among the lift inverter INV2 is braked, and one of the travel motor M1 and the lift motor M2 is stopped in a low load state. When the stacker crane 3 is transported and operated while rotating the other while maintaining the state, the motor is servo-controlled by the one corresponding to the motor to be rotated among the traveling inverter INV1 and the lifting inverter INV2 and the traveling brake The motor B1 and the lifting brake B2 are maintained in a stopped state. By switching the one corresponding to data to the braking state to brake the rotation operation of the motor.

  Unlike the servo lock that holds the position based on the drive command, the mechanical brake operates the electromagnetic actuator when switching from the braking state to the release state, so that the release operation takes a relatively long time. Therefore, in high-load operation conditions such as busy periods when you want to shorten the time required for each transfer operation as much as possible, transfer control is executed in the rated operation mode, so that the traveling carriage 10 and the lifting platform 12 are kept stopped. In this case, the servo lock is used so that the running operation and the lifting operation can be started quickly without using the mechanical brake as much as possible.

  However, even when the conveyance control is executed in the rated operation mode for the high load state, the remaining operation time Tw at the time when one of the lifting operation of the lifting platform 12 and the traveling operation of the traveling carriage 10 is completed first is set. When the time is longer than the time (shown in FIGS. 7A and 7C), it corresponds to one of the lifting motor M2 and the traveling motor M1 that has already been operated and stopped. The mechanical brake is switched to the braking state. When the crane controller 27 switches the mechanical brake of one of the lifting motor M2 and the traveling motor M1 that have been operated first in the rated operation mode to the braking state, the state shown in FIGS. As shown, when the other operation is completed, it is switched to the release state. As a result, in the rated operation mode, the influence on the transfer operation time due to the switching to the release state of the mechanical brake is eliminated as much as possible.

  When the remaining operation time Tw is shorter than the set time (shown in FIGS. 7B and 7D), the stop state is maintained by the servo lock without switching the mechanical brake to the braking state. The set time is equal to or slightly more than the reciprocating switching operation time which is the sum of the switching operation time for switching the mechanical brake from the released state to the braking state and the switching operation time for switching from the braking state to the released state. A long time is set. As the switching operation time, not only the time for switching the electromagnetic actuator but also the processing time of the interlock performed with the corresponding inverter is considered.

  When the crane controller 27 moves the transfer device 13 from the source transfer target location to the destination transfer target location, as shown in FIGS. 7A and 7B, the elevator controller 12 moves up and down. Is completed first, the elevation controller 27V calculates the remaining operation time Tw of the travel operation based on the elapsed time from the start of movement of the transfer device 13 and the travel speed pattern. As shown in FIGS. 7C and 7D, when the traveling operation of the traveling carriage 10 is completed first, the traveling control unit 27H determines the elapsed time from the start of movement of the transfer device 13 and the ascending / descending speed pattern. Based on the above, the remaining operation time Tw of the lifting operation is calculated.

  On the other hand, in a low load state such as a quiet period when there is a slight margin in the transfer work time, transfer control is executed in the power saving operation mode. In the power saving operation mode, after the rotation of the traveling motor M1 is stopped by servo control, the servo control for the traveling motor M1 is stopped and the traveling brake B1 of the traveling motor M1 is switched to the braking state. . Similarly, after the rotational operation of the lifting motor M2 is stopped by servo control, the servo control for the lifting motor M2 is stopped and the lifting brake B2 of the lifting motor M2 is switched to the braking state.

  Thus, in the power saving mode, while the traveling inverter INV1 does not rotate the traveling motor M1 by servo control, the traveling brake M1 is maintained in the braking state, so that the traveling motor M1 is servo-controlled. It is possible to reduce the power consumption required for the servo lock when maintaining the stop state, and in addition, it is possible to reduce the power supplied from the brake releasing power source for maintaining the traveling brake B1 in the released state. Similarly, in the power saving mode, while the elevator inverter INV2 does not rotate the elevator motor M2 by servo control, the elevator motor M2 is stopped by servo control by maintaining the elevator brake B2 in the braking state. The power consumption required for the servo lock when maintaining the state can be reduced, and in addition, the power supplied from the brake release power source for maintaining the lifting brake B2 in the released state can also be reduced. Therefore, the power consumption of the stacker crane 3 can be reduced.

  Next, the control operation of the conveyance control executed by the crane controller 27 will be described with reference to the flowcharts of FIGS. When the crane controller 27 receives a conveyance command from the ground-side controller 7, the crane controller 27 starts executing the conveyance control. As will be described later, when the conveyance control is executed in the rated operation mode, the travel control unit 27H, the elevation control unit 27V, and the exit / exit control unit 27F all receive the brake release signal when the conveyance control is finished. Since it is output, all of the travel brake B1, the lift brake B2 and the exit / retreat brake B3 are in the released state, but when the transport command standby state continues for 30 seconds, the travel brake B1 of the crane controller 27 All of the lifting and lowering brakes B2 and B3 stop outputting the brake release signal and switch the mechanical brakes to the braking state. In this way, even if each mechanical brake is in the released state, when the standby state of the transport command has elapsed for a set time (for example, 30 seconds) or longer, the mechanical brake is maintained in the released state by switching to the braking state. I try to reduce the power to keep it.

  When the crane controller 27 starts executing the conveyance command, the crane controller 27 first executes a power saving mode determination process (see FIG. 11) in step # 1 (hereinafter, abbreviated as “step”) to execute the conveyance command. Check whether the next transport command already exists at the time of the operation, and if the next transport command does not exist, determine whether the execution mode of the transport control is either the power saving operation mode or the rated operation mode The power saving mode flag, which is a flag, is set, and the power saving mode flag is reset when the next conveyance command is present.

  In # 2, the pattern generation unit 27P generates a traveling speed pattern and an ascending / descending speed pattern for moving the transfer device 13 to the transfer target location designated by the transfer command. In # 2, a rated traveling speed pattern and a rated lifting speed pattern are generated. In # 3, the power saving mode flag is checked. If the flag is set, the power saving operation mode is determined and the process proceeds to # 4 or less. If the flag is not set, the rated operation mode is assumed as # 30 in FIG. Move to:

  First, the case of the power saving operation mode will be described. In # 4, the travel operation time Th is acquired from the rated travel speed pattern, and the lift operation time Tv is acquired from the rated lift speed pattern. Then, by comparing the two, it is predicted whether the completion of the travel operation is earlier or later than the completion of the lift operation when the travel operation and the lift operation are started simultaneously. If the traveling operation time Tv is long and the traveling operation time Th is short, so that the traveling operation is expected to be completed before the ascending / descending operation, in # 5, the pattern generation unit 27P is a traveling speed pattern parameter. The upper limit speed Vh_max is set to an intermediate travel speed that is 50% of the rated travel speed, a new travel speed pattern is generated, and this travel speed pattern is adopted as the power saving travel speed pattern. If the lifting / lowering operation time Tv is short and the traveling operation time Th is long, the lifting / lowering operation is expected to be completed before the traveling operation, and the rated traveling speed pattern is used as it is as the traveling speed pattern. As for the ascending / descending speed pattern, the rated ascending / descending speed pattern is adopted as it is, regardless of whether the ascending / descending operation is completed or the traveling operation is completed.

  When the traveling speed pattern and the lifting / lowering speed pattern are thus determined by the pattern generating section 27P, the traveling control section 27H starts the traveling operation of the traveling carriage 10 at # 8, and at the same time, the lifting control section 27V is activated by the elevator platform 12 at # 12. Movement of the transfer device 13 is started. While the traveling operation of the traveling carriage 10 is continued, the # 8 loop is repeated, and while the lifting operation of the lifting platform 12 is continued, the # 12 loop is repeated.

  In the loop of # 8, the traveling control unit 27H acquires the current target traveling speed of the traveling carriage 10 from the traveling speed pattern based on the elapsed time from the start of traveling to the present, and the distance information time of the traveling laser rangefinder 25. Based on the deviation from the actual travel speed obtained by the change, a travel drive command is generated based on the rotational speed value of the travel motor M1, and the travel inverter INV1 is commanded. The traveling inverter INV1 servo-controls the rotational operation of the traveling motor M1 using the rotational speed information based on the output pulse of the traveling rotary encoder RE1 as feedback information so that the traveling motor M1 rotates at the commanded rotational speed value. To do.

  In the loop of # 12, the lifting control unit 27V acquires the current target lifting speed of the lifting platform 12 from the lifting speed pattern from the elapsed time from the start of lifting and lowering, and the distance information time of the lifting laser distance meter 20 is obtained. Based on the deviation from the actual lifting speed obtained by the change, a lifting drive command is generated based on the rotational speed value of the lifting motor M2, and is commanded to the lifting inverter INV2. The lift inverter INV2 servo-controls the rotation operation of the lift motor M2 using the rotation speed information based on the output pulse of the lift rotary encoder RE2 as feedback information so that the lift motor M2 rotates at the commanded rotation speed value. To do.

  When the travel operation is completed prior to the lifting / lowering operation, the process proceeds from the # 8 loop to # 9, and the travel control unit 27H stops outputting the brake release signal and turns on the travel brake B1 of the travel motor M1. Switch from the release state to the braking state. At this time, interlocking with the traveling inverter INV1 is performed, and the servo control of the rotation operation of the traveling motor M1 is stopped. Since the traveling operation is completed before the lifting operation, the process proceeds from # 10 to # 12. After that, when the lifting / lowering operation by the lifting / lowering control unit 27V is completed, the process proceeds to # 13. Since the traveling operation has already been completed at this time, the lifting / lowering control unit 27H prepares for the transfer operation for scooping performed immediately after. While the output of the brake release signal is maintained, the lifting brake B2 is shifted from # 13 to # 15 in a state where the lifting operation is maintained by the servo lock while being released.

  If the lifting / lowering operation is completed before the traveling operation, the process proceeds from # 12 loop to # 13 while the traveling operation is being performed, and further proceeds to # 14. In # 14, the lifting control unit 27V stops the output of the brake release signal and switches the lifting brake B2 of the lifting motor M1 from the released state to the braking state. At this time, interlocking with the raising / lowering inverter INV2 is performed, and the servo control of the rotation operation of the raising / lowering motor M2 is stopped. Then, the process proceeds to # 8, and after that, when the travel operation by the travel control unit 27H is completed, the process proceeds to # 9, where the travel control unit 27H stops outputting the brake release signal and turns the travel brake B1 of the travel motor M1 on. Switch from the release state to the braking state. At this time, interlocking with the traveling inverter INV1 is performed, and the servo control of the rotation operation of the traveling motor M1 is stopped. Since the lifting operation has already been completed at this time, the process proceeds to # 11, and the brake release signal that the lifting control unit 27H has stopped outputting in # 14 prepares for the transfer operation for scooping performed immediately after that. After the output is resumed and the lifting brake B2 is switched from the braking state to the release state, the process proceeds to # 15. At this time, the servo control of the rotation operation of the lifting motor M2 is resumed by interlocking with the lifting inverter INV2.

  The traveling operation and the raising / lowering operation until the crane controller 27 executes the transport control in the power saving operation mode and moves the transfer device 13 to the transfer target location of the transport source have been described above. Next, a case where the crane controller 27 executes conveyance control in the rated operation mode and shifts to # 30 in FIG. 10 in # 3 will be described with reference to the flowchart in FIG.

  If it is the rated operation mode, the process proceeds from # 17 in FIG. 9 to # 30 in FIG. 10, and all of the travel control unit 27H, the lift control unit 27V, and the exit control unit 27F output a brake release signal, and the travel brake All of B1, lifting brake B2, and exit / exit brake B3 are released. If the previous transfer control is executed in the rated operation mode and 30 seconds have not elapsed since the completion of the transfer control, each brake is maintained in the released state. This time is unnecessary.

  In # 31, the travel control unit 27H starts the travel drive command to the travel inverter INV1, whereby the servo control of the travel motor M1 is started and the travel operation of the travel cart 10 is started. At the same time, the lift control unit 27V Starts a lifting drive command to the lifting inverter INV2, thereby starting servo control of the lifting motor M2, starting the lifting operation of the lifting platform 12, and starting the movement of the transfer device 13. While the traveling operation of the traveling carriage 10 is continued, the # 32 loop is repeated, and while the lifting operation of the lifting platform 12 is continued, the # 37 loop is repeated. Since the control operation in each loop is the same as that in the power saving operation mode, description thereof is omitted here.

  When the traveling operation is completed before the lifting operation, the lifting operation is not yet completed. Therefore, when the traveling operation is completed, the process proceeds from the loop of # 32 to # 33 and # 34. In # 34, the remaining operation time Tw of the lifting / lowering operation is calculated from the elapsed time from the start of the movement of the transfer device 13 by the traveling control unit 27H and the lifting / lowering speed pattern, and the remaining operation time Tw is calculated as the reciprocation of the mechanical brake. It is checked whether it is longer than the set time considering the switching operation time. If the remaining operation time Tw of the lifting operation is equal to or longer than the set time, the process proceeds to # 35, where the traveling control unit 27H stops outputting the brake release signal and brakes the traveling brake B1 of the traveling motor M1 from the released state. Switch to state. At this time, interlocking with the traveling inverter INV1 is performed, and the servo control of the rotation operation of the traveling motor M1 is stopped. When the traveling brake B1 is switched to the braking state, the process proceeds to # 37 and waits for completion of the lifting operation. If the remaining operation time Tw of the lifting / lowering operation is less than the set time, the operation is switched to # 37 while maintaining the released state without performing the switching operation of the traveling brake B1, and the completion of the lifting / lowering operation is awaited.

  Thereafter, when the lifting operation by the lifting control unit 27V is completed, the process proceeds to # 38. Since the traveling operation is already completed at this time, the process proceeds to # 41. In # 41, in preparation for the next traveling operation, the traveling control unit 27H resumes outputting the brake release signal stopped in # 35 and switches the traveling brake B1 from the braking state to the released state. At this time, the interlock with the traveling inverter INV1 is performed to restart the servo control of the rotation operation of the traveling motor M1, and the traveling carriage 10 is maintained in the stopped state by the servo lock.

  When the lifting / lowering operation is completed before the traveling operation, the traveling operation is not yet completed. Therefore, when the lifting / lowering operation is completed, the process proceeds from # 357 loop to # 38 and # 39. In # 39, the remaining operation time Tw of the travel operation is calculated from the elapsed time since the movement of the transfer device 13 is started by the elevating control unit 27V and the travel speed pattern, and the remaining operation time Tw is calculated as the reciprocation of the mechanical brake. It is checked whether it is longer than the set time considering the switching operation time. If the remaining operation time Tw of the travel operation is equal to or longer than the set time, the process proceeds to # 40, where the elevating control unit 27H stops outputting the brake release signal and brakes the elevating brake B2 of the elevating motor M2 from the released state. Switch to state. At this time, interlocking with the raising / lowering inverter INV2 is performed, and the servo control of the rotation operation of the raising / lowering motor M2 is stopped. When the raising / lowering brake B2 is switched to the braking state, the process proceeds to # 32 and waits for completion of the traveling operation. If the remaining operation time Tw of the travel operation is less than the set time, the operation is shifted to # 32 while maintaining the release state without performing the switching operation of the lifting brake B2, and the travel operation is awaited.

  Thereafter, when the traveling operation by the traveling control unit 27H is completed, the process proceeds to # 33, and since the raising / lowering operation is already completed at this time, the process proceeds to # 36. In # 36, in preparation for the transfer operation for scooping performed immediately after this, the lifting control unit 27H resumes output of the brake release signal stopped in # 40 and switches the lifting brake B2 from the braking state to the released state. At this time, interlocking with the lifting inverter INV2 is performed, and the servo control of the rotation operation of the lifting motor M2 is resumed, and the lifting platform 12 is maintained in the stopped state by the servo lock.

  When the crane controller 27 executes the transfer control in the power saving operation mode and the rated operation mode with reference to FIGS. 8 and 10 above, the transfer device 13 is moved to the transfer target location of the transfer source. The control operation has been described. Next, with reference to FIG. 9 and FIG. 10, the transfer device 13 is transferred from the transfer target location of the transfer source for each of cases where the crane controller 27 executes the transfer control in the power saving operation mode and the rated operation mode. A control operation when moving to the previous transfer target location will be described.

  When the scooping process is completed in # 15 of FIG. 8, the process proceeds to # 16 of FIG. 9, and the pattern generation unit 27P moves the transfer device 13 to the transfer target location of the transfer destination instructed by the transfer command. The traveling speed pattern and the ascending / descending speed pattern are generated. In # 16, the rated travel speed pattern and the rated up-down speed pattern are generated as in # 2. When the transfer device 13 is moved from the transfer target location of the transfer source to the transfer target location of the transfer destination by the processing up to # 28 in the power saving operation mode branching after # 17 and the processing in the rated operation mode. The control operation is the same as the control operation when moving the transfer device 13 to the transfer target location of the transfer source, as shown in # 3 to # 14 in FIG. 8 and FIG. Therefore, the re-explanation is omitted.

  Next, the scooping process of # 15 in FIG. 8 that is executed after the transfer device 13 is moved to the transfer target location of the transfer source and the transfer device 13 that is executed after the transfer device 13 is moved to the transfer target location of the transfer destination The control operation with the wholesale process of # 29 of FIG. 9 will be described with reference to the flowchart of FIG.

  As shown in FIG. 12, in the scooping process, first, in # U1, it is checked whether the exit / exit brake B3 of the motor for exit / exit M3 is in a braking state, and if it is in the braking state at the start of the scooping process, Switch to the release state at U2. If it is not in the braking state at the start of the scooping process, there is no need for a release operation, and the process proceeds to # U3. Note that when the exit / retreat brake B3 is in a braking state at the start of the scooping process, the previous transport control is executed in the power saving operation mode, or the previous transport control is executed in the rated operation mode. In this case, after the standby state continues for 30 seconds or more, the current conveyance command is instructed and the conveyance control is executed.

  In # U3, the exit / exit control unit 27F instructs the exit / exit inverter INV3 to drive an exit / exit drive, and the exit / exit motor M3 is rotationally operated to cause the slide fork 9 of the transfer device 13 to project. The withdrawing / withdrawing control unit 27F commands the exit / withdrawal inverter INV3 as an exit / withdrawal drive command based on the rotational operation amount of the withdrawing / withdrawing motor M3, so as to place the slide fork 9 from the retracted position to the protruding position. The exit / retreat inverter INV3 rotates the exit / retreat motor M1 using the rotation amount information based on the output pulse of the exit / retreat rotary encoder RE3 as feedback information so that the exit / retreat motor M3 rotates by the commanded rotation operation amount. Servo-controlled operation.

  When the projecting operation to the projecting position of the slide fork 9 is completed in # U3, the elevator controller 27V moves the elevator 12 up and down by the amount of lifting for transfer in # U4 and places the article Q on the slide fork 9 Support. At this time, the lift inverter INV2 servo-controls the rotation operation of the lift motor M3 in the position control mode. After the ascending operation is completed, it is checked in # U5 whether the power saving operation mode is set. If the power saving mode flag is set and the power saving operation mode is set, the process proceeds to # U6 and the lifting control unit 27V stops outputting the brake releasing signal and switches the lifting brake B2 from the released state to the braking state. To # U7. If the power saving mode flag is not set and the rated operation mode is set, the lifting brake B2 is maintained in the released state without switching to the braking state, and the lifting platform 12 is maintained in the stopped state by the servo lock. The process shifts from U5 to # U7.

  In # U7, the exit / exit control unit 27F instructs the exit / exit inverter INV3 to operate the exit / retreat motor M3, thereby rotating the exit / retreat motor M3 to retract the slide fork 9 of the transfer device 13. The transfer device 13 is provided with a retraction position detection sensor for confirming that the slide fork 9 is located at the retraction position. The exit / retreat inverter INV3 feedback-controls the rotation operation of the exit / retreat motor M3 in the position control mode in the same manner as the protrusion operation for the retreat operation, but the exit / retreat inverter INV3 stops the rotation operation of the exit / retreat motor M3. In this case, the retraction operation is normally completed by detecting the retraction position by the retraction position detection sensor.

  When the retraction operation of the slide fork 9 is normally completed, it is checked in # U8 whether or not it is in the power saving operation mode. If the power saving mode flag is set and the power saving operation mode is set, the process proceeds to # U9 where the exit / exit control unit 27F stops outputting the brake release signal and switches the exit / exit brake B3 from the released state to the braked state. The crawl process ends. If the power saving mode flag is not set and the rated operation mode is set, the exit / exit brake B3 is maintained in the released state without switching to the braking state, and the slide fork 9 is maintained in the stopped state by the servo lock. The process ends.

  Next, the wholesale process will be described. The wholesale process is the same as the other control operations except that the lift process is lowered at # U4 in the scoop process by raising the lifting platform 12 by the moving up / down amount. Therefore, detailed explanation is omitted.

  As described above, according to the present embodiment, when the conveyance work load is low, the power saving mode is set. When the power saving mode is set, the servo motor is actively used when the mechanical brake is actively used when each motor is maintained in a stopped state. It is possible to reduce the power consumption for locking and the power required to maintain the mechanical brake in the released state. As a result, it is possible to save power while maintaining the conveyance capability as much as possible. Even in the rated operation mode, if the time from completion of one operation to the completion of the other operation is longer than the reciprocating operation time of the mechanical brake because the elevating operation and travel operation are completed at different timings, A mechanical brake is used to save power in the rated operation mode. Furthermore, in the power saving mode, when the operating speed of the lifting operation and the traveling operation is set to the power saving operating speed, the traveling speed is set to a sufficiently low traveling speed with respect to the rated operating speed, and the lifting operation is rated at By maintaining the ascending / descending speed, it is possible to obtain a more appropriate power saving effect for each operation mode of the traveling operation and the elevating operation.

[Second Embodiment]
In the second embodiment, when the movement of the transfer device 13 is started in the rated operation mode in the transport control executed by the crane controller 27 described in the first embodiment, the traveling operation of the traveling carriage 10 and the lifting platform 12 are performed. Since the other operations are the same as those in the first embodiment, only the relevant part of the transport control will be described, and the description of the other parts will be omitted.

  The crane controller 27 starts the movement of the transfer device 13 at the movement start timing after generating the rated operation travel speed pattern and the rated operation elevating speed pattern in the pattern generation unit 27P in the transport control. At this time, in order to overlap the period in which the lifting platform 12 is lifted as long as possible during the period in which the traveling speed Vh of the traveling carriage 10 is decelerated, the rising start timing of the lifting platform 12 is delayed from the movement start timing of the transfer device 13. The delay is made by Td. As a result, the regenerative electric power generated when the traveling motor M1 is regeneratively operated during the period during which the traveling speed Vh is decelerated can be consumed as efficiently as possible by the power running operation of the elevating motor M2.

  Specifically, as shown in FIGS. 15A and 15B, the crane controller 27 moves the transfer device 13 higher than the transfer target location from the transfer target location of the movement source in the rated operation mode. When moving to the transfer target location at the destination, the travel operation of the traveling carriage 10 is started and the movement of the transfer device 13 is started, which is given by the travel deceleration period Ph3 of the travel speed pattern (FIG. 4). A period from time t2 to time t3 when the traveling speed Vh of the traveling carriage 10 is decelerated in accordance with a change in speed, and a period from time t5 to t6 when the elevator base 12 is raised according to the speed change given by the elevation speed pattern (FIG. 5). In order to overlap, the rising / lowering speed pattern is determined and the rising start time later than the movement start timing (time t0) at which the movement of the transfer device 13 is started is delayed by a delay time Td. It is configured to execute the conveyance control in a form to start the rising operation of the elevation frame 12 to the timing (time t5).

  As shown in FIGS. 15 (a) and 15 (b), the elevation control unit 27V sets the elevation control pattern at time t2 when the traveling control unit 27H starts to reduce the traveling speed of the traveling carriage 10 based on the traveling speed pattern. The delay time Td is set so as to start the ascending / descending platform 12 ascending. Thereby, part or all of the electric power necessary for the power running operation of the lifting motor M1 that rotates to raise the lifting platform 12 is reduced during the period from time t2 to time t3 when the traveling speed Vh of the traveling carriage 10 is reduced. This is covered by the generated regenerative power of the traveling motor M1. As shown in FIG. 15C, for example, the movement mode of the transfer device 13 when the rising start timing of the lifting platform 12 is delayed by the delay time Td from the movement start timing of the transfer device 13 is shown. . FIG. 15 exemplifies a case where the traveling carriage 10 is moved forward in the case of moving from the source transfer target location to the destination transfer target location that is higher than the transfer target location. Yes.

  Also, as shown in FIGS. 16A and 16B, the lifting control unit 27V moves the transfer device 13 from the transfer target location of the movement source to a destination that is lower than the transfer target location. When moving to the mounting target location, the traveling control unit 27 </ b> H starts the traveling operation of the traveling carriage 10 and at the same time starts the descent of the transfer device 13. That is, time t5 indicating the descent start timing in FIG. 16 is the same time as time t0 indicating the travel start timing. As shown in FIG. 16C, for example, the movement mode of the transfer device 13 when the lowering start timing of the lifting platform 12 is set at the same time as the movement start timing of the transfer device 13 is shown. FIG. 16 illustrates a case where the traveling cart 10 is moved backward among cases where the transfer target location is moved from the source transfer target location to a destination transfer target location which is lower than the transfer target location. Yes.

  In the first embodiment, when the transfer control is executed in the rated operation mode, the movement of the transfer device 13 is started in the empty state before the scooping process is executed. There are two times when the transfer device 13 starts to move in the actual load state after execution of the scooping process, both of which are # 31 in the flowchart of FIG. In the second embodiment, the process shown in the flowchart of FIG. 17 is executed instead of the process of # 31 of FIG.

  Hereinafter, the process shown in the flowchart of FIG. 17 will be described. When the travel speed pattern and the ascending / descending speed pattern are generated at # 30 in FIG. 10 and the process proceeds to # D1 in FIG. 17, the height of the transfer target position where the transfer apparatus 13 of the movement source is located and the transfer target of the movement destination Compare the height at which the location is located. Since a bank value, a bay value, and a level value are set for each transfer target location, the source level and the destination level are compared. In addition, the level value of the loading platform 8 is 1, which is the same level as the lowermost storage unit 4.

  If the destination level is lower than the source level in # D1 or if the heights of both are the same, it is determined that there is no ascending operation, and the process proceeds to # D2, where the elevating operation and the traveling operation are simultaneously performed at the movement start timing. Be started. If the destination level is higher than the source level in # D1, the process proceeds to # D3, and when the movement start start timing for starting the movement of the transfer device 13 is reached, the traveling operation of the traveling carriage 10 is started first. Let Thereafter, the traveling speed of the traveling carriage 10 is controlled based on the traveling speed pattern, and the arrival of the traveling deceleration timing (time t2 in FIG. 15A) is monitored at # D4. When the traveling deceleration timing is reached, the process proceeds to # D5. And the raising / lowering operation | movement of the raising / lowering stand 12 is started at the time t2 (time t5) of FIG. Thereafter, the rising speed of the lifting platform 12 is controlled based on the lifting speed pattern. In this way, the traveling operation of the traveling carriage 10 and the raising / lowering operation of the lifting platform 12 are performed in parallel in a state where the period during which the traveling speed Vh of the traveling carriage 10 is decelerated and the period during which the lifting platform 12 is raised are overlapped. The process proceeds to # 32 and # 37.

  In this way, by raising the lifting platform 12 during the period in which the traveling speed Vh of the traveling cart 10 is decelerated, the regenerative power of the traveling motor M1 generated by the traveling operation of the traveling cart 10 is supplied from the traveling inverter INV1. The regenerative common converter CNV can collect and supply to the lifting inverter INV that performs the power running operation of the lifting motor M1. Therefore, the lifting platform 12 can be raised using the regenerative power generated during the deceleration period of the traveling operation of the traveling carriage 10, and the power consumption of the stacker crane can be reduced.

[Another embodiment]
The invention made by the inventor has been specifically described based on the embodiment of the invention. However, the present invention is not limited to the embodiment described above, and various modifications can be made without departing from the scope of the invention. Hereinafter, another embodiment of the present invention will be described.

(1) In the above-described embodiment, in the power saving operation mode, when the travel operation time Th is shorter than the lifting operation time Tv, the intermediate travel speed that is intermediate between the rated travel speed of the traveling carriage 10 and the stopped state is saved in the power saving operation. However, instead of this, in the power saving operation mode, the intermediate traveling speed may be set as the power saving driving traveling speed regardless of the length of the traveling operation time Th.

(2) In the above embodiment, the control unit automatically switches between the rated operation mode and the power saving operation mode on the basis of the determination information of the load state determination unit. It is also possible to provide an artificially operated operation state switching command means for instructing one of the power operation modes, and the control means switches the operation state based on the command information of the operation state switching command means. According to this configuration, the operator can switch between the rated operation mode and the power saving operation mode according to the situation. Moreover, you may comprise so that an operation state may be switched by the command from a high-order computer.

(3) In the above embodiment, the power saving operation mode determination process is executed at the timing of executing the conveyance control. However, the execution timing of the power saving operation mode determination process is not limited to this, and can be changed as appropriate. It is. For example, it may be executed periodically every time a certain time elapses.

(4) In the above-described embodiment, the load state determination unit exemplifies whether the load state determination unit determines whether the load state is a high load state or a low addition state based on the current number of unprocessed transfer operations. However, the criteria for determining the load can be changed as appropriate. For example, the load state may be determined based on the occurrence frequency of the transfer work or based on the current transfer work amount predicted from the past transfer work history. Further, the load state may be determined based on the transfer work amount in a predetermined period to which the present belongs without using the current actual or predicted transfer work amount as a reference. Further, a load state determination unit may be provided in a computer above the control unit, and it may be determined based on the determination result whether the control unit is in a high load state or a low addition state.

(5) In the above embodiment, the driving motor and the lifting motor are connected to the inverter and servo controlled. However, instead of this, the driving motor and the lifting motor are connected to the servo amplifier to perform servo control. It may be controlled.

(6) In the first embodiment, the power regenerative common converter CNV as the regenerative power recovery and supply unit is exemplified, but the power regenerative common converter CNV may be omitted.

(7) In the first embodiment, the lifting operation period Tv of the lifting platform 12 of the lifting platform 12 that moves up and down at the rated lifting speed is expected to be longer than the traveling operation period Th of the traveling carriage 10 that travels at the rated traveling speed. In this case, the driving speed for power saving operation is exemplified by adopting a driving speed at a constant rate (50% in the first embodiment) with respect to the rating. The traveling speed for power saving operation may be set so that the traveling operation period of the traveling carriage 10 is the same as the lifting operation period Tv of the lifting platform 12 that moves up and down at the rated lifting speed.

(8) In the second embodiment, the lifting start timing is delayed from the movement start timing in the rated operation mode, but the same control is possible in the power saving operation mode. In that case, the process shown in the flowchart of FIG. 17 is executed in the process of # 7 in the flowchart of FIG. 8 and # 21 in the flowchart of FIG.

Q Article M1 Traveling motor M2 Lifting motor B1, B2 Braking means CNV Regenerative power recovery supply means Pv1 Lifting acceleration period Pv2 Lifting constant speed period Pv3 Lifting deceleration period αv Lifting acceleration Vv_max Lifting upper limit speed βv Lifting deceleration Ph1 Traveling Acceleration period Ph2 Travel constant speed period Ph3 Travel deceleration period αh Travel acceleration Vh_max Travel upper limit speed βh Travel deceleration Th Travel operation period Tv Lift operation period t2 to t3 Travel speed deceleration period t5 to t9 Raise the platform Period t0 Movement start timing t5 Lift start timing Td Delay time 4, 8 Transfer target location 5 Traveling rail 10 Traveling carriage 11 Elevating mast 12 Elevating platform 13 Transfer device 27 Control means

Claims (6)

A traveling carriage that can travel along the traveling rail by the rotation operation of the traveling motor for traveling driving;
Elevating / lowering provided with a transfer device that can be moved up and down along a lifting mast provided upright on the traveling carriage by a rotating operation of a lifting motor for lifting and lowering driving, and can transfer an article to and from a transfer target location. Stand,
Rotation operation of the traveling motor and the raising / lowering motor to move the transfer device by the traveling operation of the traveling carriage and the raising / lowering operation of the lifting platform to convey articles between the plurality of transfer target locations. A stacker crane provided with a control means for executing conveyance control for controlling the rotation operation of
The control means is
A rated operation mode in which the traveling control is performed so that the traveling carriage travels at a rated traveling speed and the lifting platform moves up and down at a rated lifting speed;
The traveling carriage travels at a power-saving driving traveling speed suitable for power saving with respect to traveling operation, and the lifting platform moves up and down at a power-saving driving lifting speed suitable for power saving with respect to the lifting operation. A stacker crane configured to be switchable to a power saving operation mode for executing the conveyance control.   In the power saving operation mode, the control means sets the intermediate traveling speed that is intermediate between the rated traveling speed and the stopped state of the traveling carriage as the traveling speed for power saving operation, and the rated lifting speed of the lifting platform and The stacker crane according to claim 1, wherein the transport control is executed in such a manner that the same lifting speed is set as the lifting speed for power saving operation.   The control means is configured to execute the transport control in a form in which the traveling operation of the traveling carriage and the lifting operation of the lifting platform are simultaneously started, and the lifting operation of the lifting platform in the power saving operation mode. When the period is expected to be longer than the traveling operation period of the traveling carriage, the intermediate traveling speed is set as the traveling speed for power saving operation, and the lifting operation period of the lifting platform is expected to be less than the traveling operation period of the traveling carriage. The stacker crane according to claim 2, wherein the transport control is executed in such a manner that the rated traveling speed of the traveling carriage is the traveling speed for power saving operation. Load state determination means is provided for determining whether the load work amount to be processed is a high load state that is equal to or greater than a set amount or a low load state that is less than the set amount;
When the control means is determined to be in the high load state by the load state determination means, the controller switches to the rated operation mode, and when it is determined to be in the low load state by the load state determination means, The stacker crane according to claim 1, wherein the stacker crane is configured to switch to a power operation mode. Each of the traveling motor and the elevating motor can be switched between a braking state for braking the rotational operation and a releasing state for releasing the braking of the rotational operation, and is in the released state when electric power is supplied. And a negative braking means configured to switch to the braking state as power supply is stopped.
The control means is
In the conveyance control, when rotating the traveling motor, the braking means for the traveling motor is maintained in a released state, the rotational operation of the traveling motor is servo-controlled, and the lifting motor is rotated. When operating, it is configured to servo-control the rotational operation of the lifting motor while maintaining the braking means for the lifting motor in a released state; and
In the rated operation mode, after the rotation operation of the traveling motor is stopped by servo control, the rotation operation of the traveling motor is braked by a servo lock, and the rotation operation of the elevating motor is stopped by servo control. After that, the rotation operation of the elevating motor is braked by a servo lock, and after the rotation operation of the traveling motor is stopped by servo control in the power saving operation mode, the servo for the traveling motor is After stopping the control, switching the braking means for the traveling motor to the braking state and stopping the rotation operation of the lifting motor by servo control, the servo control for the lifting motor is stopped. And the braking means for the lifting motor is switched to the braking state. Stacker crane according to any one. Regenerative power recovery and supply means is provided that recovers regenerative power generated in one of the elevating motor and the traveling motor and can be supplied to the other,
The control means is
Elevation acceleration period in which the elevating platform moves up and down with the acceleration for elevating from the start of elevating, elevating constant speed period for elevating at the elevating upper limit speed following the elevating acceleration period, and elevating deceleration following the elevating constant speed period A traveling acceleration period in which the traveling carriage travels at a traveling acceleration from the start of traveling, the traveling speed pattern defining an ascending / descending deceleration period to be lifted / lowered is generated based on a lifting distance from the lifting / lowering start position to the target lifting / lowering position, and the traveling A travel speed pattern that defines a travel constant speed period that travels at the travel upper limit speed following the acceleration period and a travel deceleration period that travels at the travel deceleration that follows the travel constant speed period from the travel start position to the target travel Based on the distance traveled to the location,
After starting the lifting operation of the lifting platform, the lifting platform is moved up and down at a lifting speed given by the lifting speed pattern, and after starting the traveling operation of the traveling carriage, given by the traveling speed pattern Configured to execute the transport control in a form in which the traveling carriage is caused to travel at a traveling speed, and
In the rated operation mode, when the control means moves the transfer device from a transfer target location of a movement source to a transfer target location of a destination that is higher than the transfer target location,
A period in which the traveling operation of the traveling carriage is started to start the movement of the transfer device, and the traveling speed of the traveling carriage is decelerated according to a speed change given by the traveling deceleration period of the traveling speed pattern; Ascending by a delay time from the movement start timing at which the elevating speed pattern is determined and the movement of the transfer device is started so that the period for raising the elevating table overlaps according to the speed change given by the speed pattern The stacker crane according to any one of claims 1 to 5, wherein the transport control is executed in such a manner that the lifting operation of the lifting platform is started at a start timing.

Images